Robert:
Thank you for the additional information, but the related records portion of the datagrid is still not getting populated.
When I first accessed the REST services the relationship did not show up even though a relationship existed on the layer. The layer was created from a lyr file and when the lyr file is brought into an mxd, the related tables do not automatically appear. I needed to open the table view and then use the Related Tables button on the toolbar to bring in the related tables. I then had to stop and start the mapservice and refresh the REST cache.
Do I need to add table information for the related table in the config file below the layers definition area? I did not add table information below the layers area as I thought the fields all="true" would populate the related record portion of the datagrid.